JigsawRunWidget.cpp

#include "JigsawRunWidget.h"
 
#include <QtConcurrent>
#include <QCloseEvent>
#include <QDebug>
#include <QDir>
#include <QFuture>
#include <QScrollBar>
#include <QThread>
 
#include "JigsawSetupDialog.h"
 
#include "BundleAdjust.h"
#include "BundleSolutionInfo.h"
#include "Cube.h"
#include "Directory.h"
#include "FileName.h"
#include "IException.h"
#include "Image.h"
#include "ImageList.h"
#include "JigsawSetupDialog.h"
#include "Control.h"
#include "iTime.h"
#include "Process.h"
#include "Project.h"
#include "ui_JigsawRunWidget.h"
 
namespace Isis {
 
  JigsawRunWidget::JigsawRunWidget(Project *project, QWidget *parent) : m_ui(new Ui::JigsawRunWidget) {
    m_project = project;
    m_selectedControl = NULL;
    m_bundleThread = NULL;
    init();
  }
 
 
  JigsawRunWidget::JigsawRunWidget(Project *project,
                             BundleSettingsQsp bundleSettings,
                             Control *selectedControl,
                             QString outputControlFileName,
                             QWidget *parent) : m_ui(new Ui::JigsawRunWidget) {
 
    m_project = project;
    m_bundleSettings = bundleSettings;
    m_selectedControl = selectedControl;
    m_selectedControlName = FileName(selectedControl->fileName()).name();
    m_outputControlName = outputControlFileName;
    m_bundleThread = NULL;
    init();
  }
 
 
  void JigsawRunWidget::init() {
    m_ui->setupUi(this);
 
    // Note: The buttons are added to the UI setup from the JigsawRunWidget.ui file.
    // These could have been added to the UI file itself (as XML).
 
 
    // After a bundle is successfully run, accept is enabled.
    m_ui->JigsawRunButton->setEnabled(false);
 
    m_bundleAdjust = NULL;
//    m_bundleSolutionInfo = NULL;
 
    m_bRunning = false;
 
    QList<BundleSolutionInfo *> bundleSolutionInfo = m_project->bundleSolutionInfo();
    if (bundleSolutionInfo.size() <= 0) {
      m_ui->useLastSettings->setEnabled(false);
    }
 
    QString lastSettingsToolTip("Use the settings from the most recently accepted bundle adjust.");
    QString lastSettingsWhat("When checked, the settings from the most recently accepted bundle "
                             "adjust (i.e. the most recent bundle results in the project) will be "
                             "used for running the next bundle adjust when \"Run\" is clicked.");
    m_ui->useLastSettings->setToolTip(lastSettingsToolTip);
    m_ui->useLastSettings->setWhatsThis(lastSettingsWhat);
  }
 
 
  JigsawRunWidget::~JigsawRunWidget() {
//    if (m_bundleSolutionInfo) {
//      delete m_bundleSolutionInfo;
//      m_bundleSolutionInfo = NULL;
//    }
    if (m_bundleAdjust) {
      m_bundleAdjust->deleteLater();
      m_bundleAdjust = NULL;    
    }
    if (m_bundleThread) {
      m_bundleThread->quit();
      m_bundleThread->deleteLater();
      m_bundleThread = NULL;
    }
    if (m_ui) {
      delete m_ui;
      m_ui = NULL;
    }
  }
 
 
  void JigsawRunWidget::on_JigsawSetupButton_clicked() {
 
    // Each time the SetUp button is pressed, create JigsawSetupDialog object with
    // project,
    // useLastSettings = matches check box
    // readOnly = false,
    // parent = this
    JigsawSetupDialog setupdlg(m_project,
                               m_ui->useLastSettings->isChecked(),
                               false,
                               this);
 
    // We want to use the current settings if not use the most recently accepted bundle settings.
    // This allows user to click "Setup", make changes, "OK", then click "Setup", and those changes
    // are present in the setup dialog.
    if (m_ui->useLastSettings->isChecked() && m_project->bundleSolutionInfo().size() > 0) {
      QList<BundleSolutionInfo *> bundleSolutionInfo = m_project->bundleSolutionInfo();
      BundleSettingsQsp lastBundleSettings = (bundleSolutionInfo.last())->bundleSettings();
      setupdlg.loadSettings(lastBundleSettings);
      // We also tell the setup dialog what the last selected control is.
      setupdlg.selectControl(m_selectedControlName);
    }
    else if (m_bundleSettings) {
      setupdlg.loadSettings(m_bundleSettings);
      // We also tell the setup dialog what the last selected control is.
      setupdlg.selectControl(m_selectedControlName);
    }
 
    if (setupdlg.exec() == QDialog::Accepted) {
      m_selectedControlName = setupdlg.selectedControlName();
      m_outputControlName = setupdlg.outputControlName();
      m_selectedControl = setupdlg.selectedControl();
      m_bundleSettings = setupdlg.bundleSettings();
      // The settings have been modified, might be misleading to keep this check after setup.
      m_ui->useLastSettings->setChecked(false);
      m_ui->JigsawRunButton->setEnabled(true);
    }
  }
 
 
  void JigsawRunWidget::on_JigsawRunButton_clicked() {
    // Once a bundle is run, the previous results cannot be accepted or rejected.
    m_ui->JigsawAcceptButton->setEnabled(false);
    m_ui->statusOutputLabel->setText("Initialization");
 
    if (!m_bRunning) {
      // ??? warning dialogs ???
      if (m_selectedControl == NULL) {
      }
 
      if (m_project->images().size() == 0) {
      }
 
      // assume defaults or send warning???
      if (m_bundleSettings == NULL) {
      }
 
      QList<BundleSolutionInfo *> bundleSolutionInfo = m_project->bundleSolutionInfo();
      if (m_ui->useLastSettings->isChecked() && bundleSolutionInfo.size() > 0) {
         BundleSettingsQsp lastBundleSettings = (bundleSolutionInfo.last())->bundleSettings();
 
         if (lastBundleSettings) {
           m_bundleSettings = lastBundleSettings;
         }
 
         // Grab the control name that was used in that bundle adjustment.
         m_selectedControlName
             = FileName(bundleSolutionInfo.last()->inputControlNetFileName()).name();
      }
 
      // Clear the dialog displays.
      clearDialog();
 
      m_bundleThread = new QThread;
 
      // Make sure to clean up any previously run bundle adjusts.
      if (m_bundleAdjust) {
        delete m_bundleAdjust;
        m_bundleAdjust = NULL;
      }
 
      m_bundleAdjust = new BundleAdjust(m_bundleSettings, *m_selectedControl, m_project->images(),
                                        false);
 
      m_bundleAdjust->moveToThread(m_bundleThread);
 
      // Track the status updates bundle adjust gives and update the dialog.
      connect( m_bundleAdjust, SIGNAL( statusUpdate(QString) ),
               this, SLOT( outputBundleStatus(QString) ) );
 
      // Track any errors that may occur during the bundle adjust and update the dialog.
      connect( m_bundleAdjust, SIGNAL( error(QString) ),
               this, SLOT( errorString(QString) ) );
 
      // Update the iteration dialog element when the bundle updates its iteration count.
      connect( m_bundleAdjust, SIGNAL( iterationUpdate(int) ),
               this, SLOT( updateIteration(int) ) );
 
      connect( m_bundleAdjust, SIGNAL( pointUpdate(int) ),
               this, SLOT( updatePoint(int) ) );
 
      connect( m_bundleAdjust, SIGNAL( statusBarUpdate(QString) ),
               this, SLOT( updateStatus(QString) ) );
 
      // When we start the bundle thread, run the bundle adjustment.
      connect( m_bundleThread, SIGNAL( started() ),
               m_bundleAdjust, SLOT( solveCholesky() ) );
 
      // When the bundle adjust says results are ready, we can allow the dialog to update the
      // project as necessary.
      connect( m_bundleAdjust, SIGNAL( resultsReady(BundleSolutionInfo *) ),
               this, SLOT( bundleFinished(BundleSolutionInfo *) ) );
 
      // ken testing
      // Notify the dialog that the bundle thread is finished, and update the gui elements.
      connect( m_bundleThread, SIGNAL( finished() ),
               this, SLOT( notifyThreadFinished() ) );
 
      // Tell the thread to quit (stop) when the bundle adjust finishes (successfully or not)
      connect( m_bundleAdjust, SIGNAL( finished() ),
               m_bundleThread, SLOT( quit() ) );
 
      m_ui->imagesLcdNumber->display(m_bundleAdjust->numberOfImages());
      m_ui->pointsLcdNumber->display(m_bundleAdjust->controlNet()->GetNumPoints());
      m_ui->measuresLcdNumber->display(m_bundleAdjust->controlNet()->GetNumMeasures());
 
      m_bundleThread->start();
 
      // change "Run" button text to "Abort" (or maybe pause)
      m_bRunning = true;
      m_ui->JigsawRunButton->setText("&Abort");
      update();
    }
    else {
      // Make sure to abort the bundle if it is currently running.
      m_ui->JigsawRunButton->setText("&Aborting...");
      m_ui->statusOutputLabel->setText("Aborting...");
      m_bundleAdjust->abortBundle();
      update();
    }
  }
 
 
  void JigsawRunWidget::on_JigsawAcceptButton_clicked() {
    m_ui->JigsawAcceptButton->setEnabled(false);
 
    // create bundle results folder
    QString runTime = m_bundleSolutionInfo->runTime();
    QDir bundleDir = m_project->addBundleSolutionInfoFolder(runTime); //???
                                                           // save solution information to a file
 
    m_bundleSolutionInfo->bundleSettings()->setOutputFilePrefix(bundleDir.absolutePath() + "/");
 
    //  Write csv files
    m_bundleSolutionInfo->outputResiduals();
    m_bundleSolutionInfo->outputImagesCSV();
    m_bundleSolutionInfo->outputPointsCSV();
 
    //  Write text summary file
    m_bundleSolutionInfo->outputText();
 
    // create output control net file name
    FileName outputControlName;
    if (!m_outputControlName.isEmpty()) {
      outputControlName
          = FileName(m_project->bundleSolutionInfoRoot() + "/" + runTime + "/" +
                     m_outputControlName);
    }
    else {
      outputControlName
          = FileName(m_project->bundleSolutionInfoRoot() + "/" + runTime + "/Out-" + runTime + "-" +
                     FileName(m_bundleSolutionInfo->inputControlNetFileName()).name());
    }
 
    // Write output control net with correct path to results folder + runtime
    m_bundleSolutionInfo->bundleResults().outputControlNet()->Write(outputControlName.toString());
 
    // create Control with output control net and add to m_bundleSolutionInfo
    m_bundleSolutionInfo->setOutputControl(new Control(m_project, outputControlName.expanded()));
 
    if (m_ui->detachedLabelsCheckBox->isChecked()) {
      // Iterate through all of the image lists (the "imports" in the project).
      QList<ImageList *> imageLists = m_bundleSolutionInfo->imageList();
      foreach (ImageList *imageList, imageLists) {
        // Keep track of the file names of the images that were used in the bundle.
        QStringList imagesToCopy;
 
        // Now, we iterate through each image in the current image list ("import"), and we determine
        // the location of the image and where to copy it to (as an ecub).
        foreach (Image *image, *imageList) {
          FileName original(image->fileName());
          // Update our list of tracked file names for the images we are going to copy.
          imagesToCopy.append(original.expanded());
        }
        // Concurrently copy the bundled images as ecub's to the bundle solution info results.
        CopyImageToResultsFunctor copyImage(m_project->bundleSolutionInfoRoot() + "/" +
                                            m_bundleSolutionInfo->runTime() + "/images/" +
                                            imageList->name());
        QFuture<Cube *> copiedCubes = QtConcurrent::mapped(imagesToCopy, copyImage);
 
        // Prepare for our adjusted images (ecubs)
        ImageList *adjustedImages = new ImageList(imageList->name(), imageList->path());
 
        // Update the adjusted images' labels
        for (int i = 0; i < imagesToCopy.size(); i++) {
          Cube *ecub = copiedCubes.resultAt(i);
          if (ecub) {
            Process propagateHistory;
            propagateHistory.SetInputCube(ecub);
 
            // check for existing polygon, if exists delete it
            if (ecub->label()->hasObject("Polygon")) {
              ecub->label()->deleteObject("Polygon");
            }
 
            // check for CameraStatistics Table, if exists, delete
            for (int iobj = 0; iobj < ecub->label()->objects(); iobj++) {
              PvlObject obj = ecub->label()->object(iobj);
              if (obj.name() != "Table") continue;
              if (obj["Name"][0] != QString("CameraStatistics")) continue;
              ecub->label()->deleteObject(iobj);
              break;
            }
 
            // Timestamp and propagate the instrument pointing table and instrument position table
            QString bundleTimestamp = "Jigged = " + m_bundleSolutionInfo->runTime();
            Table cMatrix = m_bundleAdjust->cMatrix(i);
            Table spVector = m_bundleAdjust->spVector(i);
            cMatrix.Label().addComment(bundleTimestamp);
            spVector.Label().addComment(bundleTimestamp);
            ecub->write(cMatrix);
            ecub->write(spVector);
            // The ecub is now adjusted, add this to our list of adjusted images
            Image *newImage = new Image(ecub);
            adjustedImages->append(newImage);
            newImage->closeCube();
          }
        }
        // Tell the BundleSolutionInfo what the adjusted images are
        m_bundleSolutionInfo->addAdjustedImages(adjustedImages);
      }
      
    }
 
    // Tell the project about the BundleSolutionInfo
    // m_project->addBundleSolutionInfo( new BundleSolutionInfo(*m_bundleSolutionInfo) );
    m_project->addBundleSolutionInfo(m_bundleSolutionInfo);
 
    // Make sure that when we add our results, we let the use last settings box be checkable.
    m_ui->useLastSettings->setEnabled(true);
 
  //       m_ui->convergenceStatusLabel->setText("Bundle converged, camera pointing updated");
    //This bundle was bad so we should delete all remenants.
 
    //TODO: delete correlation matrix cov file...
    //TODO: delete bundle results object
 
//       m_ui->convergenceStatusLabel->setText("Bundle did not converge, camera pointing NOT updated");
    m_project->setClean(false);
  }
 
 
  JigsawRunWidget::CopyImageToResultsFunctor::CopyImageToResultsFunctor(const QDir &destination) {
    m_destinationFolder = destination;
  }
 
 
  JigsawRunWidget::CopyImageToResultsFunctor::~CopyImageToResultsFunctor() {
    m_destinationFolder = QDir();
  }
 
 
  Cube *JigsawRunWidget::CopyImageToResultsFunctor::operator()(const FileName &image) {
    try {
      Cube *result = NULL;
 
      // Get the destination folder and create that path.
      FileName destination(QFileInfo(m_destinationFolder, image.name()).absoluteFilePath());
      m_destinationFolder.mkpath(destination.path());
 
      // The input FileName will be referencing an imported ecub file.
      // Need to get the .cub file (via Cube::externalCubeFileName) to copy.
      // This method returns whatever value is set for the ^DnFile keyword... will not contain
      // a path if the .ecub and .cub are in the same directory.
      Cube importCube(image, "r");
      FileName dnCubeFileName;
      // The .ecub's ^DnFile is cubeFileName.cub (.ecub sitting next to .cub)
      if (importCube.externalCubeFileName().path() == ".") {
 
        QDir relative(m_destinationFolder.absolutePath());
        dnCubeFileName = FileName(QDir(image.path()).canonicalPath() + "/" + importCube.externalCubeFileName().name());
        QString s = relative.relativeFilePath(dnCubeFileName.toString());
        // Locate the DnFile cube by using the input image's (ecub) path and the DnFile name (cub)
        //dnCubeFileName = FileName(image.path() + "/" + importCube.externalCubeFileName().name());
        // WHY DO WE NEED TO USE QDIR canonical path? why is the image.path relative and not abs?
        //dnCubeFileName = FileName(s);
        dnCubeFileName = FileName(QDir(image.path()).canonicalPath() + "/" +
                                  importCube.externalCubeFileName().name());
        Cube dnCube(dnCubeFileName, "r");
 
 
        result = dnCube.copy(destination, CubeAttributeOutput("+External"));
        result->relocateDnData(s);
      }
      // The .ecub's ^DnFile is an absolute path (.ecub potentially not located next to .cub)
      else {
        dnCubeFileName = importCube.externalCubeFileName();
        Cube dnCube(dnCubeFileName, "r");
        result = dnCube.copy(destination, CubeAttributeOutput("+External"));
      }
      return result;
    }
    // Error tracking should be more robust, see ImportImagesWorkOrder.
    catch (IException &e) {
      std::cout << "\nerror: " << e.what();
      return NULL;
    }
  }
 
 
  void JigsawRunWidget::clearDialog() {
    m_ui->statusUpdatesLabel->clear();
    m_ui->iterationLcdNumber->display(0);
    m_ui->pointLcdNumber->display(0);
 
    m_ui->imagesLcdNumber->display(0);
    m_ui->pointsLcdNumber->display(0);
    m_ui->measuresLcdNumber->display(0);
 
    m_ui->rmsAdjustedPointSigmasGroupBox->setEnabled(false);
    m_ui->latitudeLcdNumber->display(0);
    m_ui->longitudeLcdNumber->display(0);
    m_ui->radiusLcdNumber->display(0);
 
    updateScrollBar();
  }
 
 
  void JigsawRunWidget::updateScrollBar() {
    m_ui->statusUpdateScrollArea->verticalScrollBar()->setSliderPosition(
        m_ui->statusUpdateScrollArea->verticalScrollBar()->maximum());
  }
 
 
  void JigsawRunWidget::outputBundleStatus(QString status) {
    QString updateStr = "\n" + status;
 
    m_ui->statusUpdatesLabel->setText( m_ui->statusUpdatesLabel->text().append(updateStr) );
 
    updateScrollBar();
 
    update();
  }
 
 
  void JigsawRunWidget::errorString(QString error) {
    QString errorStr = "\n" + error;
    m_ui->statusUpdatesLabel->setText( m_ui->statusUpdatesLabel->text().append(errorStr) );
 
    updateScrollBar();
 
    update();
  }
 
 
  void JigsawRunWidget::reportException(QString exception) {
    QString exceptionStr = "\n" + exception;
    m_ui->statusUpdatesLabel->setText( m_ui->statusUpdatesLabel->text().append(exceptionStr) );
 
    updateScrollBar();
 
    update();
  }
 
 
  void JigsawRunWidget::updateIteration(int iteration) {
    m_ui->iterationLcdNumber->display(iteration);
    update();
  }
 
 
  void JigsawRunWidget::updatePoint(int point) {
    m_ui->pointLcdNumber->display(point);
    update();
  }
 
 
  void JigsawRunWidget::updateStatus(QString status) {
    m_ui->statusOutputLabel->setText(status);
    update();
  }
 
 
  void JigsawRunWidget::notifyThreadFinished() {
    //QString str = "\nThread Finished signal received";
    //m_ui->statusUpdatesLabel->setText( m_ui->statusUpdatesLabel->text().append(str) );
 
    // set Run button text back to "Run"
    m_ui->JigsawRunButton->setText("&Run");
 
    if (m_bundleAdjust->isAborted()) {
      m_ui->statusOutputLabel->setText("Aborted");
    }
 
    if (m_bundleSettings->errorPropagation()) {
      m_ui->rmsAdjustedPointSigmasGroupBox->setEnabled(true);
      m_ui->latitudeLcdNumber->display(
                              m_bundleSolutionInfo->bundleResults().sigmaCoord1StatisticsRms());
      m_ui->longitudeLcdNumber->display(
                              m_bundleSolutionInfo->bundleResults().sigmaCoord2StatisticsRms());
 
      if (m_bundleSettings->solveRadius()) {
        m_ui->radiusLcdNumber->display(
                              m_bundleSolutionInfo->bundleResults().sigmaCoord3StatisticsRms());
        m_ui->radiusLcdNumber->setEnabled(true);
        m_ui->radiusLcdLabel->setEnabled(true);
      }
      else {
        m_ui->radiusLcdNumber->setEnabled(false);
        m_ui->radiusLcdLabel->setEnabled(false);
      }
      
    }
    else {
      m_ui->rmsAdjustedPointSigmasGroupBox->setEnabled(false);
    }
 
    // Since this slot is invoked when the thread finishes, the bundle adjustment is no longer
    // running.
    m_bRunning = false;
    updateScrollBar();
 
    update();
  }
 
 
  void JigsawRunWidget::bundleFinished(BundleSolutionInfo *bundleSolutionInfo) {
 
    bundleSolutionInfo->setRunTime( Isis::iTime::CurrentLocalTime().toLatin1().data() );
    m_bundleSolutionInfo = bundleSolutionInfo;
 
    // Since results are available, the user can accept (save) or reject(discard) the results.
    m_ui->JigsawAcceptButton->setEnabled(true);
  }
 
 
  void JigsawRunWidget::closeEvent(QCloseEvent *event) {
    if( m_bRunning ) {
      QMessageBox::StandardButton resBtn = 
          QMessageBox::question(this, 
                                "WARNING",
                                tr("You are about to abort the bundle adjustment. Are you sure?\n"),
                                QMessageBox::No | QMessageBox::Yes);
      if (resBtn != QMessageBox::Yes) { 
        event->ignore();
        return;
      }
      else if (m_bRunning) { // check m_bRunning again just in case the bundle has finished
        // We need to wait for the bundle adjust thread to finish before deleting the
        // JigsawRunWidget so that we dont close the widget before the thread is finished 
        connect(m_bundleThread, SIGNAL(finished()), this, SLOT(deleteLater()));
        m_bundleAdjust->abortBundle();
        return;
      }
    }
    event->accept();
  }
}